SYNAPTICON SOMANET Node 400 User manual

SOMANET Node rev.
E.1
Documentation v 4.10.2 | Built 2021-07-06
© 2021 Synapticon GmbH

Table of Contents
1 SOMANET Node rev. E.1
1.1 Technical Specifications
1.1.1 Power Specifications
1.1.2 General specifications
1.1.3 Maximum values
1.1.4 Load cycle
1.2 Downloads
1.2.1 Documents
1.2.2 CAD Files
1.3 Hardware Diagrams
1.3.1 EtherCAT module
1.3.2 Processor module
1.3.3 Drive module
1.4 Installation Guide
1.4.1 Wiring instructions
1.4.1.1 Overview of connectors
1.4.1.2 Power supply, phases and brake
1.4.1.2.1 Pinout Power Terminal
1.4.1.2.1.1 Notes about choosing the supply voltage
1.4.1.2.1.2 Using a PELV or SELV power supply
1.4.1.2.1.3 Warning about using contactors behind the power supply
1.4.1.2.2 Connecting a Brake
1.4.1.3 Encoders and IO
1.4.1.3.1 Encoder Port 1
1.4.1.3.2 Encoder Port 2
1.4.1.3.3 Encoder Port 3 / Digital IO
1.4.1.3.4 Analog IN
1.4.1.3.4.1 Analog input specification
1.4.1.3.4.2 Analog input resistance
1.4.1.3.4.3 Attaching a voltage divider
1.4.1.3.5 EtherCAT port
1.4.1.3.5.1 EtherCAT IN Port
1.4.1.3.5.2 EtherCAT OUT Port
1.4.1.4 Connector details and mating parts numbers
1.4.2 Mounting instructions
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1.4.2.1 Heat dissipation
1.4.2.2 Thermal mounting considerations
1.4.2.3 Dimensions
1.4.2.4 Interference with magnetic fields
1.4.3 On-site installation guide (UL)
1.4.3.1 Branch fuse required
1.4.3.2 Field wiring terminal marking
1.4.3.3 Downloads
1.5 LED signals
1.5.1 Overview
1.5.1.1 Legend
1.5.2 Core LED
1.5.2.1 Firmware
1.5.2.2 Bootloader
1.5.3 Drive LED
1.5.4 Com LED
1.6 SOMANET Node Safety (Original instructions)
1.6.1 Dimensions
1.6.2 Specifications of the safety functions
1.6.2.1 System requirements
1.6.2.2 Technical specifications
1.6.2.3 Block diagram
1.6.3 Setup of the safety functions
1.6.3.1 Connecting the STO/SBC inputs
1.6.3.1.1 STO/SBC input port
1.6.3.1.2 Wiring examples for the STO/SBC inputs
1.6.3.1.2.1 Manual switch
1.6.3.1.2.2 Safety PLC (plus-minus output)
1.6.3.1.2.3 Safety PLC (plus-plus output)
1.6.3.2 Connection diagram for the brake
1.6.3.2.1 Brake power output (STO/SBC)
1.6.3.3 Connector mating parts and cable lengths
1.6.4 Using the safety functions
1.6.4.1 Timing diagrams
1.6.4.1.1 Timing diagram for STO-function without connected brake
1.6.4.1.2 Timing diagram for STO-function with SBC-function
1.6.4.2 Truth table for digital inputs
1.6.4.3 Diagnostic functions
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1.6.4.3.1 Fault diagnostics
1.6.4.3.2 Fault reaction
1.6.4.3.3 Resetting diagnostic faults
1.6.4.4 STO-SBC status register
1.6.5 Examples for realising safety functions
1.6.5.1 Prevention of unexpected start-up
1.6.5.2 Stop category 0 (STO)
1.6.5.3 Stop category 1 (SS1)
1.6.5.3.1 Prerequisites
1.6.5.3.2 Wiring
1.6.5.3.3 Configuration
1.6.5.3.4 Verification
1.6.6 Commissioning and maintenance
1.6.6.1 Commissioning
1.6.6.2 Maintenance
1.6.7 Changelog of the safety-related documentation
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1 SOMANET Node rev. E.1
Attention
When dealing with electronic devices, always consider these handling instructions!
Technical specifications
Downloads
Hardware diagrams
Installation guide
Wiring instructions
Power supply, phases and brake
Encoders and IO
Connector types and mating parts numbers
Mounting instructions
On-site installation guide (UL)
LED signals
Safety functions (STO-SBC)
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1.1 Technical Specifications
1.1.1 Power Specifications
Power Specifications
Node Size Node 400 Node 1000 Node 2000
Maximum Peak Output Power 415 W 1,040 W 2,080 W
Maximum Continuous Output Power * 415 W 1,040 W 1,200 W
Nominal Supply Voltage ** 12-48 V DC
Maximum Supply Voltage ** 60 V DC
Minimum Supply Voltage ** 10 V DC
Maximum Input Current DC 9.6 A DC 24 A DC 48 A DC
Maximum Phase Current RMS 13.2 A RMS 33 A RMS 66 A RMS ****
Maximum Continuous Phase Current RMS * 13.2 A RMS 33 A RMS 36 A RMS
Efficiency (at Maximum Power) 98 %
Brake control power output 0-48 V PWM Phase D ***
* Information about the maximum values can be found below.
** The operating voltage is 12-48 V DC. The maximum supply voltage is only for buffering peaks when
braking. The minimum voltage is for configuration purposes only. Please refer to our power supply
instructions for details.
*** This is a fourth phase that can also be used for other purposes (see Manually controlling phase D
voltage) it has a maximum current of 10 A.
**** Details for the Maximum Continuous Phase Current and the Load cycles can be found below
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1.1.2 General specifications
General specifications
Supported Communication
Standard
EtherCAT
Number of Phases 4
Supported Motors 1 x 3-phase BLDC-Motor and 1 active brake
Up to 2 Brushed DC Motors [1]
Brake control voltage 0-48 V PWM Phase D
Analog Inputs 4 (2 x single-ended 0-10V, 2 x differential ±5V)
[2]
Digital IOs 4 × GPIO / SPI [3] / I C [3] (3.3 V CMOS logic) [4]
Encoder Connectors 2 x 4ch. RS-422
Supported Standard Encoder
Interfaces
Incremental Encoder (ABI), HALL, BiSS-C, SSI, SPI [3], I C [3]
Supported Encoder Types Encoder Port 1
Incremental Encoder (ABI),
BiSS-C, SSI, A-Format
Encoder Port 2
Incremental Encoder (ABI), HALL,
BiSS-C, SSI, I C [3]
Incremental Encoder max
frequency
1.4 MHz [5] (supports up to 14,000 rpm with a 4,096 resolution
incremental encoder)
Hardware Protections Overcurrent, Overvoltage, Undervoltage, Temperature
Compliance with standards CISPR 11 Class B (EN 55011:2016)
IEC 61000-4-6:2013
IEC 61000-4-3:2020
IEC 61000-4-2:2008
IEC 61000-4-8:2009
IEC 61800-5-1:2007
IEC 60204-1:2016
Compliance with European
directives
CE (EMC Directive 2014/30/EU)
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2
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Certificates UL listed (Node 400, Node 1000 with soldered cables, Node 2000
with soldered cables)
UL recognized (Node 1000, Node 2000)
Dimensions 70 x 40 x 23 mm
Weight 85 g (incl. Heatsink)
Operating temperature 0 °C [6] to 40 °C
Storage Temperature -35 to 85 °C
Max. installation altitude 2000 m
Humidity 5-85% rH
Sensors on-board DC-BUS Voltage, DC-BUS current, Phase Voltage, Phase current
(two phases measured, one computed), Temperature
[1]
[2]
[3]
[4]
[5]
[6]
Currently not supported by our standard software. Can be developed upon request, please contact
[e-mail]
All Analog Inputs can be configured as single-ended 0-5 V, 0-10 V, 0-20 V or differential ±5 V, ±10 V
independently. Upon request only, please contact [e-mail]
Upon Request
Two Digital IO can be configured as 5.0 V CMOS logic. Upon request only, please contact
[e-mail]
Depends on the firmware used. Value given for v4.1
The actual lowest temperature is limited by the dew point. This depends on several factors, e.g. the
ambient humidity and how quick the drive cools down after operation. Special care must be taken
when the servo drive is actively cooled below ambient temperature.
1.1.3 Maximum values
The given maximum values can be achieved with a motor that is typical for robotic applications,
reaching its maximum power at 60% of its RPM maximum. This case is used as a realistic assumption to
specify the datasheet value for power. Beyond that, the servo drive itself is able to provide higher
power, as it is able to drive its maximum voltage and its maximum current at the same time. In reality,
no motor can consume both maximum values at the same time, so there is no operating point of the
overall system (motor + drive) that would actually use the theoretical maximum power of the drive. As
the calculation bases on a reference motor, there are setups with large motors that are able to even
exceed the values shown here.
The maximum continuous output power and phase currents are highly dependent on the cooling
situation. Please refer to our Thermal mounting considerations for details.
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1.1.4 Load cycle
The maximum peak current is achievable for at least 10 seconds. The maximum allowable duty cycle
depends on the cooling situation and load cycle profile. Under standard conditions (150 mm * 200 mm
* 20 mm aluminium plate, 20° C ambient temperature, square wave load cycle alternating between 0
and max current), a duty cycle of 10% is achievable. The value can be higher for optimized system
setups, e.g. 25% when using a SOMANET Node variant with directly soldered power wires or up to
100% if the mounting plate is actively cooled additionally. Please contact [e-mail]
for details.
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1.2 Downloads
1.2.1 Documents
DECLARATION OF CONFORMITY SOMANET NODE SAFETY
EC-TYPE EXAMINATION SOMANET NODE SAFETY
CERTIFICATE SOMANET NODE SAFETY
1.2.2 CAD Files
3D MODEL SOMANET NODE
3D MODEL SOMANET NODE SAFETY
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1.3 Hardware Diagrams
Due to the modular nature of SOMANET Node, the hardware diagrams of each module are listed
separately.
1.3.1 EtherCAT module
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1.3.2 Processor module
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1.3.3 Drive module
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1.4 Installation Guide
This manual will guide you through the basic steps to get your SOMANET Node 400/1000/2000
EtherCAT running.
Attention
When dealing with electronic devices, always consider these handling instructions!
Important
For proper functionality of the current sensors the servo drive must not be exposed to external
magnetic fields, see our mounting instructions for details.
Wiring instructions
Power supply, phases and brake
Encoders and IO
Connector types and mating parts numbers
Mounting instructions
On-site installation guide (UL)
After you have successfully set up your servo drive you can proceed to commission and tune your drive:
Commissioning and tuning with OBLAC Drives
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1.4.1 Wiring instructions
1.4.1.1 Overview of connectors
Power supply, phases and brake
Encoders and IO
Connector types and mating parts numbers
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1.4.1.2 Power supply, phases and brake
1.4.1.2.1 Pinout Power Terminal
Important
The cable length for Main Power Supply (12-48 V) must not exceed 30 m.
Important
The motor and power cables must be twisted for EMC reasons.
Attention
No reverse polarity protection! Always ensure that the power cables are connected correctly,
otherwise the Drive may be damaged beyond repair!
Terminal
#
1 Phase A
2 Phase B
3 Phase C
4 Phase D - Brake output 0-48 V PWM
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5 Ground
6 Main Power Supply 12-48 V
7 Optional Logic Ground *
8 Optional Logic Supply 12-24 V **
* Maximum current carrying capacity: 10 A
Note
** this additional logic supply is not connected by default. It is not required for normal operation.
For additional information, please contact [e-mail]
Note
SOMANET servo drives are densely packed with high-performance components. Even at
idle/torque off, several components such as power supplies, cause the servo drive to get warm,
especially when it’s not connected to any heat conducting structure. The servo drives’ power
stages and control algorithms were optimized for efficiency at high power output and actually
make them one of the most efficient servo drives available. The heat generation is not linear,
which makes it actually more noticeable at idle or low power. Please ensure by design of your
mounting situation that the heat interface is connected to sufficient structure to appropriately
dissipate generated heat.
1.4.1.2.1.1 Notes about choosing the supply voltage
The indicated minimal supply voltage of 10 V is enough to power on the servo drive for configuration
but for turning a motor, a voltage above 12 V is required.
Note
Due to voltage drop from power supply to the servo drive is it not recommended to supply the
servo drive at absolute minimal voltages. If your system does not run at 12 V, increasing this
value slightly may be necessary.
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1.4.1.2.1.2 Using a PELV or SELV power supply
It’s recommended to use a protected extra-low voltage supply (PELV) instead of a safety extra-low
voltage supply (SELV).
If a SELV is used, it’s possible that the isolation from the earth can be violated through our drive (e.g.
through heatsink or mechanical mountings) and the supply becomes PELV.
1.4.1.2.1.3 Warning about using contactors behind the power supply
Attention
Our servo drives are designed for voltages between 12 V and 48 V (60 V Max), they should be run
with an appropriate extra-low voltage supply. Please do not use contactors behind the power
supply since the transient-voltage-suppression diodes could get damaged due to the power-up
voltage increase (Surge). This is likely to happen when the power up occurs fast and can lead to
complete failure of your servo drive.
If contactors behind the power supply are used, it’s necessary to include an uni-directional TVS
diode type 1.5KE62A-E3/54* between Main Power Supply and Ground of the terminal.
* this model has been successfully tested by Synapticon. Other products with the same
specifications may also be appropriate but can’t be recommended.
In case you are running several servo drives behind a contactor, please use an uni-directional TVS diode
on each drive because of the inductances of the wiring.
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1.4.1.2.2 Connecting a Brake
Attention
When using a safe brake in combination with Node Safety, use SBC Out instead of Phase D.
If your system has an attached brake, please connect the brake cables to Phase D and Ground. These
two threads should be twisted together or at least be paired to have a minimum area between them.
By default, Logic Supply is deactivated, it is therefore recommended to use Logic Ground (pin 7 of the
Main Supply Connector) for the brake.
If Logic Supply is active, Ground of the brake can be connected to the Ground cable of the 48V power
supply in a spot close to the board or it can be connected together with the Ground of the 48V supply to
the pin 5 of the Main Supply connector if they fit in there.
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Important
Please make sure the servo drive is properly grounded. You can connect the heatsink to ground.
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